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kinematics: Generic Cartesian kinematics implementation (#6815)

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* tests: Added a regression test for generic_cartesian kinematics

* kinematics: An intial implementation of generic_cartesian kinematics

* generic_cartesian: Refactored kinematics configuration API

* generic_cartesian: Use stepper instead of kinematic_stepper in configs

* generic_cartesian: Added SET_STEPPER_KINEMATICS command

* generic_cartesian: Fixed parsing of section names

* docs: Generic Caretsian kinematics documentation and config samples

* generic_cartesian: Implemented multi-mcu homing validation

* generic_cartesian: Fixed typos in docs, minor fixes

* generic_cartesian: Renamed `kinematics` option to `carriages`

* generic_cartesian: Moved kinematic_stepper.py file

* idex_modes: Internal refactoring of handling dual carriages

* stepper: Refactored the code to not store a reference to config object

* config: Updated example-generic-cartesian config

* generic_cartesian: Restricted SET_STEPPER_CARRIAGES and exported status

* idex_modes: Fixed handling stepper kinematics with input shaper enabled

* config: Updated configs and tests for SET_DUAL_CARRIAGE new params

* generic_cartesian: Avoid inheritance in the added classes

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2025-05-07 00:06:36 +02:00
committed by GitHub
parent 1cc6398074
commit cc6736c3e3
27 changed files with 1855 additions and 199 deletions
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23
klippy/kinematics/cartesian.py
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@@ -29,14 +29,10 @@ class CartKinematics:
self.rails.append(stepper.LookupMultiRail(dc_config))
self.rails[3].setup_itersolve('cartesian_stepper_alloc',
dc_axis.encode())
dc_rail_0 = idex_modes.DualCarriagesRail(
self.rails[self.dual_carriage_axis],
axis=self.dual_carriage_axis, active=True)
dc_rail_1 = idex_modes.DualCarriagesRail(
self.rails[3], axis=self.dual_carriage_axis, active=False)
self.dc_module = idex_modes.DualCarriages(
dc_config, dc_rail_0, dc_rail_1,
axis=self.dual_carriage_axis)
self.printer, [self.rails[self.dual_carriage_axis]],
[self.rails[3]], axes=[self.dual_carriage_axis],
safe_dist=config.getfloat('safe_distance', None, minval=0.))
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
@@ -52,9 +48,10 @@ class CartKinematics:
def calc_position(self, stepper_positions):
rails = self.rails
if self.dc_module:
primary_rail = self.dc_module.get_primary_rail().get_rail()
rails = (rails[:self.dc_module.axis] +
[primary_rail] + rails[self.dc_module.axis+1:])
primary_rail = self.dc_module.get_primary_rail(
self.dual_carriage_axis)
rails = (rails[:self.dual_carriage_axis] +
[primary_rail] + rails[self.dual_carriage_axis+1:])
return [stepper_positions[rail.get_name()] for rail in rails]
def update_limits(self, i, range):
l, h = self.limits[i]
@@ -67,8 +64,8 @@ class CartKinematics:
rail.set_position(newpos)
for axis_name in homing_axes:
axis = "xyz".index(axis_name)
if self.dc_module and axis == self.dc_module.axis:
rail = self.dc_module.get_primary_rail().get_rail()
if self.dc_module and axis == self.dual_carriage_axis:
rail = self.dc_module.get_primary_rail(self.dual_carriage_axis)
else:
rail = self.rails[axis]
self.limits[axis] = rail.get_range()
@@ -93,7 +90,7 @@ class CartKinematics:
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
if self.dc_module is not None and axis == self.dual_carriage_axis:
self.dc_module.home(homing_state)
self.dc_module.home(homing_state, self.dual_carriage_axis)
else:
self.home_axis(homing_state, axis, self.rails[axis])
def _check_endstops(self, move):